Hello,
Yesterday I had a problem with an Hokuyo UTM-30LX, aparently I wasn't
doing anything wrong when It stopped to work well, giving this output line:
Caught exception: (3) Bad response to BM command: 01 Unable to
control due to laser malfunction
Even switching it off and on it had the same error and light sequence,
first green led seems to work well, but when red led turns on it blinks
instead of being constant.
I've tried to do a reset, and verbosing the reset program it gives this
information
Sensor diagnostic: Trouble!! Error No. =[00->80]
I would like to know if anyone had this problem also if you know a solution.
(I know its not just about the gearbox driver and maybe its off-topic,
in this case my apologies)
Thanks a lot,
_____________________________________________________________
Martí Morta Garriga mmorta@...
Institut de Robòtica i Informàtica Industrial CSIC-UPC
Llorens i Artigas 4-6, 2a pl. 08028 Barcelona, Spain

Apparently, I forgot to hit send on my email before shutting down my
computer...
Thanks to your bug report, I found a fairly big bug in the code that
reads intensity data. I have hopefully fixed this in SVN. I also added
your -i feature to the example.
The error you get on line 197 is because your laser model doesn't
support changing the motor speed. The example program tries by default,
but doesn't consider it a fatal error.
The warning on line 212 is because you are using the seriallog port
type, which doesn't support changing the baud rate after opening the
port (only the serial port type does). If you need to change the baud
rate from the default in this situation, you can set it at opening time
using the port options. The example attempts to set it after opening the
port, hence the warning.
Your bug reports are not an inconvenience at all. They help us improve
the software.
Geoff
Marti Morta wrote:
> I've downloaded and installed from svn and now it gives this
> information, I've changed the hokuyo_aist_example with another option (
> -i for getIntensities, just a copy of getNew) which I attach with log
> files.
>
> $./hokuyo_aist_example -i
>
> *Failed to change baud rate: (3) Bad response to SS command: 04 Not
> compatible with the sensor model
> Failed to set motor speed: (3) Bad response to CR command: 04 Not
> compatible with the sensor model*
> Laser sensor information:
> [...]
> Sensor diagnostic: Sensor works well.
> *Caught exception: (3) Read a different number of range and intensity
> readings than were asked for.*
>
> - And from -v ( just last lines, I attach all in log )
>
> *HokuyoLaser::Read3ByteRangeAndIntensityData() Read 2162 ranges and
> intensities.
> Caught exception: (3) Read a different number of range and intensity
> readings than were asked for.
>
> *- Other things I've seen (in hokuyolog.txt):*
>
> *197> Failed to set motor speed: (3) Bad response to CR command: 04 Not
> compatible with the sensor model
> 212> Failed to change baud rate: (14) Cannot change baud rate of
> non-serial connection.
>
> 386> HokuyoLaser::GetNewRangesAndIntensities() Reading 1081 new ranges
> between 0 and 1080 with a cluster count of 1
>
> thanks a lot for your help and sorry for the inconveniences!

I tracked the problem to a misreading of the ME command specification. I
have fixed this in SVN, so could you try that and see if the problem is
solved?
Geoff
Marti Morta wrote:
> Hi,
> I am using SOKUIKI Sensor TOP-URG UTM-30LX,
>
> I've changed HokuyoData initialization and done all other things to get
> log files, which I attach here.
>
> thanks a lot for your help,